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This is my first robot. I have used an MPU6050 IMU, Arduino UNO, and an Arduino Motor Shield. The motors I have used are cheap ones, that is why a small oscillation always appears. Sensor- It is an MPU 6050 IMU. I have used Jeff Rowberg's DMP library. You won't need any other filters if you use that library. It gives you directly the yaw,pitch,roll values if you want. https://github.com/jrowberg/i2cdevlib/tree/master/Arduino/MPU6050.
This is a companion discussion topic for the original entry at https://community.robotshop.com/index.php/robots/show/self-balancing-robot-using-mpu6050-and-arduino